+ '[' md '=' md ]
+ echo '--sample-offset -1'
+ '[' md '=' smd ]
+ /app/bin/sonicer --detection-method hessian-ridge --temporal-window 2 --sample-offset -1 /working/2a10dc99-6b2d-473f-90d8-c9797a73d2f1/processing/data/sonar_raw.track.cbor
2026-09-15 14:44:30 [INFO] Sonicer 0.0.3
2026-09-15 14:44:31 [INFO] Recording GUID: 2a10dc99-6b2d-473f-90d8-c9797a73d2f1
2026-09-15 14:44:31 [INFO] Prepared data will be output to /working/2a10dc99-6b2d-473f-90d8-c9797a73d2f1/processing/data
2026-09-15 14:44:31 [INFO] Digitizing sonar data...
2026-09-15 14:44:31 [INFO] Using sonar digitizer
2026-09-15 14:44:31 [INFO] Sensor speed of sound is 1500 m/s
2026-09-15 14:44:31 [INFO] Sensor range is 0.939120 m
2026-09-15 14:44:31 [INFO] Scaled speed of sound is 1494.488589 m/s
2026-09-15 14:44:31 [INFO] Scaled micrometres per sample is 3108.536247
2026-09-15 14:44:32 [INFO] Digitized sonar frames: 43% (308/714)
2026-09-15 14:44:33 [INFO] Digitized sonar frames: 89% (636/714)
2026-09-15 14:44:33 [INFO] Digitized 714 snapshot scans
2026-09-15 14:44:33 [INFO] Applying sonar temporal consistency...
2026-09-15 14:44:34 [INFO] Sonar temporal displaced structures (window 2, pass 1): removed 5 structures, 84 points
2026-09-15 14:44:34 [INFO] Sonar temporal displaced structures (window 2, pass 2): removed 0 structures, 0 points
2026-09-15 14:44:34 [INFO] Sonar temporal gap fill (window 2): 168446 points, 2732 candidate beams, filled 1526
2026-09-15 14:44:34 [INFO] Sonar temporal radial outliers: removed 526 of 169972 points
2026-09-15 14:44:34 [INFO] Sonar temporal segment pruning (window 3): removed 24 segments, 279 points
2026-09-15 14:44:34 [INFO] Writing sonar track file...
2026-09-15 14:44:34 [INFO] Writing sonar PTD files...
2026-09-15 14:44:35 [INFO] Sonicer took 4.719002437s